Full Content is available to subscribers

Subscribe/Learn More  >

Dynamic Simulation and Analysis of a Passively Self-Stabilizing Hexapedal Running Robot

[+] Author Affiliations
Jonathan E. Clark, Mark R. Cutkosky

Stanford University

Darryl G. Thelen

University of Wisconsin at Madison

Paper No. IMECE2004-62117, pp. 1261-1269; 9 pages
  • ASME 2004 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Anaheim, California, USA, November 13 – 19, 2004
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4706-3 | eISBN: 0-7918-4178-2, 0-7918-4179-0, 0-7918-4180-4
  • Copyright © 2004 by ASME


The Sprawl family of robots have demonstrated that fast and robust locomotion is possible over uneven terrain with only feed-forward control. In the absence of feed-back, the speed, efficiency, and stability of the system are largely functions of how well the physical system is tuned. This work describes the development of a dynamic model used to investigate the effects of design changes on system stability and performance. Simulation results show the surprisingly large region of configurations that result in stable locomotion, and how the shape of this region changes as a function of the passive properties of the hips. Understanding of this is critical since peak performance, as measured by running speed, tends to occur on the boundary of stable configurations. Simulation results were used to quantitatively redesign the legs of a version of the robot configured to run outdoors. Implementation of the design changes resulted in doubling the robot’s speed.

Copyright © 2004 by ASME
Topics: Robots , Simulation



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In